Add FlannIndex abstract interface and implement NanoFlannIndex subclass (#1744)

i/rtabmap

mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00

* Add FlannIndex abstract interface and implement NanoFlannIndex subclass

* Refactored: made NanoFlann a new NN type instead of inheriting FlannIndex. Added tests. Vendoring nanoflann.h directly in the repo. RegistrationVis now use NANOFLANN_INDEX_KDTREE_SINGLE (instead of FLANN_INDEX_KDTREE_SINGLE) flann index for 2d points matching.

* cleanup comments, added FlannIndex doxygen

* Fixing windows tests

* updating flaky test

* Simplified interface, added flann kdtree single approach selectable by parameters.

* RegVis: symmetry of nanoflann for two branches of guess feature matching

* cv::BFMatcher baseline

* Small cmake optimization FLANN_KDTREE_MEM_OPT only defined for FlannIndex

* Refactored where FLANN_KDTREE_MEM_OPT is defined

* fixed file name already exist

* cleanup

* fixup build

---------

Co-authored-by: matlabbe <[email protected]>

This commit is contained in:

Muhammad

2026-08-16 09:51:39 -07:00

committed by

GitHub

co-authored by

matlabbe

parent df52523a0c

commit f647014f54

28 changed files with 7537 additions and 179 deletions

									
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				@@ -101,4 +101,4 @@ jobs:

				      env:

				        PYTHONNOUSERSITE: 1

				      run: |

				        ctest -C ${{env.BUILD_TYPE}} -V

				        ctest -C ${{env.BUILD_TYPE}} -V -LE performance